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While working on a steering mechanism for my robot, I wanted to record the current draw
of the motors. The data would give me a rough idea about the friction in the mechanism
so as to decide whether I need a different motor controller or different ideas. How can
I go about collecting the data?

After spending your time on learning advanced “hello world” tutorial of some third-party
library, and trying to code something more useful, you hit your first problem. Scavenging the
internet for help on seemingly simple issues burns more of your precious time with little
return. You think - there has to be a better way to move your project along.

Have you thought of how to filter the data coming from an analog sensor?
Why do you even want to filter that data? Should you use arithmetic mean or
median? Why can’t you just grab a sample from Arduino::analogRead() and be
done with it?